DtArticulatedPartStateRepository Class Reference

DtArticulatedPartStateRepository; class for representing DIS/RPR articulated parts. More...

Inheritance diagram for DtArticulatedPartStateRepository:

Public Types
enum	DtJointAxis { DtYAW, DtPITCH, DtROLL }
	This will be extended to have a DtNoCONSTRAINT value, and then one of these will be passed as an optional argument to setOrientation() calls in the kinematic state methods. More...

Public Member Functions
	DtArticulatedPartStateRepository (DtVrfObject *simObject, const DtObjectType &objectType, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0)
const DtArticulatedPartStateRepository &	operator= (const DtArticulatedPartStateRepository &orig)
virtual	~DtArticulatedPartStateRepository ()
virtual DtSimObjectStateRepository *	clone (const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0) const
virtual DtString	type () const
	returns DtSimObjectStateRepositoryType
DtReal	angle () const
	To use angle, setAngle, turnRate, and setTurnRate as written, we will need to cache a constraint value (in the new interface, this constraint is provided as an option value).
DtReal	turnRate () const
void	setTurnRate (DtReal turnRate)
void	setAngle (DtReal angle)
void	setBodyPartType (const DtArtPartType &type)
	These are converted to/from DtEntityTypes.
DtArtPartType	bodyPartType ()
virtual DtReal	artPartPosition () const
virtual void	setArtPartPosition (DtReal position)
virtual DtReal	artPartPositionRate () const
virtual void	setArtPartPositionRate (DtReal rate)
virtual DtReal	extension () const
virtual void	setExtension (DtReal extension)
virtual DtReal	extensionRate () const
virtual void	setExtensionRate (DtReal rate)
Public Member Functions inherited from DtSimObjectStateRepository
	DtSimObjectStateRepository (DtVrfObject *simObject, const DtObjectType &objectType, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0)
const DtSimObjectStateRepository &	operator= (const DtSimObjectStateRepository &orig)
virtual	~DtSimObjectStateRepository ()
virtual const int	objectStateRepositorySubType () const
virtual bool	init ()
	Our 'virtual' constructor. Calls all the create<>() methods.
virtual void	updatePositionFromModelVertices ()
virtual void	updateBVolFromModelVertices ()
virtual const DtObjectType &	objectType () const
virtual void	setObjectType (const DtObjectType &objectType)
virtual bool	createKinematicState ()
	Creates a DtVrfKinematicState.
virtual DtVrfKinematicState *	vrfKinematicState ()
virtual const DtVrfKinematicState *	vrfKinematicState () const
virtual bool	createObjectGeometry ()
virtual DtVrfObjectGeometry *	vrfObjectGeometry ()
virtual const DtVrfObjectGeometry *	vrfObjectGeometry () const
virtual bool	createAttachments ()
virtual DtAttachmentManager *	attachments ()
virtual const DtAttachmentManager *	attachments () const
virtual DtSimObjectStateRepository *	parent ()
virtual const DtSimObjectStateRepository *	parent () const
virtual bool	isEmbarkedOn (const DtString &parent) const
virtual void	attachToParent (DtString parent)
	Looks up the parent state repository using the given echelon ID and puts it in a call to attachToParent.
virtual void	attachToParent (DtSimObjectStateRepository *parent)
	Adds this state repository to the given parent's list of attached state repositories and updates myAttachedToRepository and myRootSimStateRepository.
virtual void	detachFromParent ()
virtual const DtString &	attachedToRepositoryName ()
virtual DtSimObjectStateRepository *	findRootSimStateRepository ()
virtual const DtSimObjectStateRepository *	findRootSimStateRepository () const
virtual void	ancestorObjectChanged ()
virtual void	putData (FILE *fp, int indentLevel=0)
	overridden to update myAttachedToRepositoryName before it gets written out
virtual void	getSelf (DtlObjPtr args, const DtFilename &searchPath, const DtVariableBindingsList &variableBindings)
	Sets myAttachedToRepository after myAttachedToRepositoryName is read in.
virtual void	preGetSelf ()
	Hook function called immediately prior to getSelf().
virtual void	postGetSelf ()
	Hook function called immediately following getSelf().
virtual void	processObjectAddedCallback (DtVrfObject *simObject)
virtual void	processObjectAboutToBeRemovedCallback (DtVrfObject *simObject)
virtual class DtVrfObjectStateRepository *	toVrfObjectStateRepository ()
virtual class DtVrfObjectStateRepository *	toVrfObjectStateRepository () const
virtual void	setCoordinateSystem (const Coordinate_System *coordinateSystem)
	Sets the coordinate system in myObjectGeometry and myKinematicState.
virtual DtVrfObject *	vrfObject ()
virtual const DtVrfObject *	vrfObject () const
virtual void	setVrfObject (DtVrfObject *vrfObject)
virtual DtSimKinematicState *	kinematicState ()
virtual const DtSimKinematicState *	kinematicState () const
virtual DtVrfObjectGeometry *	objectGeometry ()
virtual const DtVrfObjectGeometry *	objectGeometry () const
virtual const DtVector &	bodyPosition () const
	Now superseded by kinematic state parentCS functions.
virtual void	setBodyPosition (const DtVector &pos)
	Formerly setMeInParent.
virtual void	setBodyPosition (DtFloat64 x, DtFloat64 y, DtFloat64 z)
const DtDcm &	bodyOrientationMatrix () const
	Formerly meToParent().
virtual void	embarkOnParent (const DtString &parent)
	Embarks this entity on the specified parent.
virtual bool	leftOf (const DtVector &localVector) const
virtual bool	inside (const DtVector &point) const
virtual void	removeVertex (int iIndex)
	These routines simply call down to the kinematic state to get/set the results.
virtual void	addLocalVertex (const DtVector &vertex)
	These routines simply call down to the kinematic state to get/set the results.
virtual void	addLocalVertex (const DtVector &vertex, DtVector &newGeometricCenter)
	These routines simply call down to the kinematic state to get/set the results.
virtual void	setLocalVertices (const DtLocalVertexList &vertices, DtVector &newGeometricCenter)
	These routines simply call down to the kinematic state to get/set the results.
virtual void	setLocalVertices (const DtList &vertices, DtVector &newGeometricCenter)
	These routines simply call down to the kinematic state to get/set the results.
virtual const DtLocalVertexList &	localVertices () const
	These routines simply call down to the kinematic state to get/set the results.
virtual const DtLocalVectorIterator &	localVertexIterator () const
	These routines simply call down to the kinematic state to get/set the results.
virtual void	addWorldVertex (const DtVector &vertex, DtVector &newGeometricCenter)
	These routines simply call down to the kinematic state to get/set the results.
virtual void	setWorldVertices (const DtVertexList &vertices, DtVector &newGeometricCenter)
	These routines simply call down to the kinematic state to get/set the results.
virtual void	setWorldVertices (const DtList &vertices, DtVector &newGeometricCenter)
	These routines simply call down to the kinematic state to get/set the results.
virtual const DtVertexList &	worldVertices () const
	These routines simply call down to the kinematic state to get/set the results.
virtual const DtRwVectorIterator &	worldVertexIterator () const
	These routines simply call down to the kinematic state to get/set the results.
virtual void	setRelativeVertices (const DtLocalVertexList &vertices)
	Access/modify vertices relative to to the parent to which this object is attached.
virtual void	setRelativeVertices (const DtList &vertices)
	Access/modify vertices relative to to the parent to which this object is attached.
virtual const DtLocalVertexList &	relativeVertices () const
	Access/modify vertices relative to to the parent to which this object is attached.
virtual const DtLocalVectorIterator &	relativeVertexIterator () const
	Access/modify vertices relative to to the parent to which this object is attached.
const DtVector &	localPosition () const
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
void	setLocalPosition (const DtVector &pos)
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
const DtVector &	localVelocity () const
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
void	setLocalVelocity (const DtVector &vel)
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
const DtVector &	localAcceleration () const
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
void	setLocalAcceleration (const DtVector &acc)
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
const DtVector &	relativeVelocity () const
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
void	setRelativeVelocity (const DtVector &vel)
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
const DtVector &	relativeAcceleration () const
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
void	setRelativeAcceleration (const DtVector &acc)
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
const DtTaitBryan &	localOrientation () const
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
void	setLocalOrientation (const DtTaitBryan &angles)
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
const DtVector &	worldPosition () const
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
void	setWorldPosition (const DtVector &pos)
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
const DtVector &	worldVelocity () const
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
void	setWorldVelocity (const DtVector &vel)
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
const DtVector &	worldAcceleration () const
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
void	setWorldAcceleration (const DtVector &acc)
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
const DtTaitBryan &	worldOrientation () const
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
void	setWorldOrientation (const DtTaitBryan &angles)
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
const DtVector &	rotationalVelocity () const
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
void	setRotationalVelocity (const DtVector &rotationalVelocity)
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
const DtDcm &	localOrientationMatrix () const
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
void	setLocalOrientationMatrix (const DtDcm &orient)
	Convenience methods for accessing corresponding methods in DtVrfKinematicState.
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	default constructor
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	real constructor Setting the readonly flag prevents object from writing itself to the stream.
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
const DtReaderWriter &	operator= (const DtReaderWriter &orig)
	assignment operator
virtual	~DtReaderWriter ()
	destructor
virtual void	putSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Top level call to write itself to file.
virtual void	writeSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Called from putSelf, calls myRegistry.putSelf which in turn calls putSelf on each reader/writer in the registry.
virtual DtSymbolString	name () const
	Accessor for name of this readable/writable object.
virtual void	addAlias (const DtSymbolString &alias)
	Add an alias as an alternative name for this object.
virtual bool	hasAlias (const DtSymbolString &alias)
virtual const aliasContainer &	aliases () const
virtual void	setReadonly (bool flag)
	Set read-only flag.
virtual bool	isReadonly () const
virtual bool	variableIsBound () const
virtual void	unbindVariable ()
	Sets the myVariableIsBound flag to false.
virtual void	setName (const DtString &)
	Set the name of the object.
virtual const char *	readerWriterType () const
	Used to supply a string type that this reader writer type is.
virtual DtString	prettyPrint () const
	Routine to return a human readable form of the reader/writer variable.
virtual void	bindVariables (DtVariableBindingsList variableBindings)
	Runs a variable binding pass on this reader writer and any of its children.
virtual std::list < DtVariableNameType >	unboundVariables () const
bool	invalid () const
virtual bool	hasChild (const DtReaderWriter *p) const
	Returns true if this variable has a child p in it's chain.
virtual void	setValueSpecified (bool specified, bool recurse=false)
	The specified flags are used for optional values.
virtual bool	valueSpecified () const
	The specified flags are used for optional values.
virtual bool	isVariableReference () const
	Specifies whether or not this reader writer is really a variable that is specified elsewhere.
virtual void	setIsVariableReference (bool value)
virtual DtSymbolString	variableName () const
	The variable name, if this object is a variable reference.
virtual void	setVariableName (const DtSymbolString variableName)
	The variable name, if this object is a variable reference.
const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object.
DtReaderWriterRegistry &	registry ()
	Collection of child DtReaderWriter nodes owned by this object.

Public Attributes
DtJointAxis	myJointAxis

Protected Member Functions
	DtArticulatedPartStateRepository (const DtArticulatedPartStateRepository &orig, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0)
Protected Member Functions inherited from DtSimObjectStateRepository
	DtSimObjectStateRepository (const DtSimObjectStateRepository &orig, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0)
	DtSimObjectStateRepository ()
	Default Constructor; not implemented.
const Coordinate_System *	coordinateSystem () const
virtual void	setOrientationRelativeToParent ()
	If attached to a parent, and a terrain database is present, set orientation relative to parent.
Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)
	Copies values from the specified DtReaderWriter.
virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)
	Checks to see if this RW object is a variable reference that can be bound using the provided bindings.
virtual DtlObjPtr	getData (DtlObjPtr args, const DtFilename &searchPath, const DtVariableBindingsList &variableBindings)
	Deriving class overrides these to get/put class specific data.

Protected Attributes
DtReal	myArtPartPosition
DtReal	myArtPartPositionRate
DtReal	myExtension
DtReal	myExtensionRate
Protected Attributes inherited from DtSimObjectStateRepository
DtVrfObject *	mySimObject
DtRwObjectType	myObjectType
DtVrfObjectGeometry *	myObjectGeometry
DtVrfKinematicState *	myKinematicState
DtAttachmentManager *	myAttachments
DtSimObjectStateRepository *	myAttachedToRepository
DtRwString	myAttachedToRepositoryName
	used for reading & writing the name of myAttachedToRepository
DtSimObjectStateRepository *	myRootSimStateRepository
const Coordinate_System *	myCoordinateSystemPtr
	Caches pointer to coordinate system so it can set it after myKinematic state is created.
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
bool	myValueSpecified
bool	myReadOnlyFlag
bool	myIsVariableReference
DtSymbolString	myVariableName
bool	myVariableIsBound
aliasContainer	myAliases
	Container for the aliases which represent alternative names for the object.
bool	myInvalid
	Set to true if there is a problem reading this item.

Additional Inherited Members
Static Public Member Functions inherited from DtSimObjectStateRepository
static void	objectAddedCallback (DtVrfObject *simObject, void *usr)
	These callbacks are used to set myAttachedToStateRepository when this ent gets attached/detached to/from its parent.
static void	objectAboutToBeRemovedCallback (DtVrfObject *simObject, void *usr)
static DtSimObjectStateRepository *	isSimObjectStateRepository (DtSimObjectStateRepository *repository)
static const DtSimObjectStateRepository *	isSimObjectStateRepository (const DtSimObjectStateRepository *repository)
Static Protected Attributes inherited from DtReaderWriter
static DtString	theUnspecifiedValue
static DtGetSelfCallbackInfo	thePostGetSelfCallback
static DtPutSelfCallbackInfo	thePrePutSelfCallback
static const DtVariableBindingsList	theEmptyVariableBindingsList
static DtReaderWriterFactory	theFactory

Detailed Description

DtArticulatedPartStateRepository; class for representing DIS/RPR articulated parts.

The DtArticulatedPartStateRepository class is used to represent articulated parts for an entity. When an entity is created, a tree of articulated part state repository objects gets constructed based on the contents of the parameter database entry. The parameter database entry indicates the type of part to create, which part is should be attached to, and what parameter(s) should be set for the part. The base state repository for this tree is the state repository for the entity.

Member Enumeration Documentation

enum DtArticulatedPartStateRepository::DtJointAxis

This will be extended to have a DtNoCONSTRAINT value, and then one of these will be passed as an optional argument to setOrientation() calls in the kinematic state methods.

Enumerator:

DtYAW
DtPITCH
DtROLL

Constructor & Destructor Documentation

DtArticulatedPartStateRepository::DtArticulatedPartStateRepository	(	DtVrfObject *	simObject,
		const DtObjectType &	objectType,
		const DtString &	rwName = DtString::nullString(),
		DtReaderWriterRegistry *	parentRegistry = 0
	)

DtArticulatedPartStateRepository::DtArticulatedPartStateRepository ( const DtArticulatedPartStateRepository &  orig, const DtString &  rwName = DtString::nullString(), DtReaderWriterRegistry *  parentRegistry = 0  )

protected

virtual DtArticulatedPartStateRepository::~DtArticulatedPartStateRepository ( )

virtual

Member Function Documentation

const DtArticulatedPartStateRepository& DtArticulatedPartStateRepository::operator=

(

const DtArticulatedPartStateRepository &

orig

)

virtual DtSimObjectStateRepository* DtArticulatedPartStateRepository::clone ( const DtString &  rwName = DtString::nullString(), DtReaderWriterRegistry *  parentRegistry = 0  ) const

virtual

Reimplemented from DtSimObjectStateRepository.

virtual DtString DtArticulatedPartStateRepository::type ( ) const

virtual

returns DtSimObjectStateRepositoryType

Reimplemented from DtSimObjectStateRepository.

DtReal DtArticulatedPartStateRepository::angle

(

)

const

To use angle, setAngle, turnRate, and setTurnRate as written, we will need to cache a constraint value (in the new interface, this constraint is provided as an option value).

DtReal DtArticulatedPartStateRepository::turnRate

(

)

const

void DtArticulatedPartStateRepository::setTurnRate

(

DtReal

turnRate

)

void DtArticulatedPartStateRepository::setAngle

(

DtReal

angle

)

void DtArticulatedPartStateRepository::setBodyPartType

(

const DtArtPartType &

type

)

---

These are converted to/from DtEntityTypes.

The state rep for a base part gets DtEntityBase

DtArtPartType DtArticulatedPartStateRepository::bodyPartType

(

)

virtual DtReal DtArticulatedPartStateRepository::artPartPosition ( ) const

virtual

virtual void DtArticulatedPartStateRepository::setArtPartPosition ( DtReal  position )

virtual

virtual DtReal DtArticulatedPartStateRepository::artPartPositionRate ( ) const

virtual

virtual void DtArticulatedPartStateRepository::setArtPartPositionRate ( DtReal  rate )

virtual

virtual DtReal DtArticulatedPartStateRepository::extension ( ) const

virtual

virtual void DtArticulatedPartStateRepository::setExtension ( DtReal  extension )

virtual

virtual DtReal DtArticulatedPartStateRepository::extensionRate ( ) const

virtual

virtual void DtArticulatedPartStateRepository::setExtensionRate ( DtReal  rate )

virtual

Member Data Documentation

DtJointAxis DtArticulatedPartStateRepository::myJointAxis

DtReal DtArticulatedPartStateRepository::myArtPartPosition

protected

DtReal DtArticulatedPartStateRepository::myArtPartPositionRate

protected

DtReal DtArticulatedPartStateRepository::myExtension

protected

DtReal DtArticulatedPartStateRepository::myExtensionRate

protected

---

The documentation for this class was generated from the following file:

• include/vrfobjcore/artPartSR.h